Pxyz.C
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25 
26 #include "Pxyz.H"
27 #include "rigidBodyModelState.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
39 
41  (
42  joint,
43  Pxyz,
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 :
55  joint(model, 3)
56 {
57  S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
58  S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
59  S_[2] = spatialVector(0, 0, 0, 0, 0, 1);
60 }
61 
62 
64 (
65  const rigidBodyModel& model,
66  const dictionary& dict
67 )
68 :
69  joint(model, 3)
70 {
71  S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
72  S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
73  S_[2] = spatialVector(0, 0, 0, 0, 0, 1);
74 }
75 
76 
78 {
79  return autoPtr<joint>(new Pxyz(*this));
80 }
81 
82 
83 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
84 
86 {}
87 
88 
89 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
90 
92 (
93  joint::XSvc& J,
94  const rigidBodyModelState& state
95 ) const
96 {
97  J.X.E() = tensor::I;
98  J.X.r() = state.q().block<vector>(qIndex_);
99 
100  J.S = Zero;
101  J.S(3,0) = 1;
102  J.S(4,1) = 1;
103  J.S(5,2) = 1;
104 
105  J.v = spatialVector(Zero, state.qDot().block<vector>(qIndex_));
106  J.c = Zero;
107 }
108 
109 
110 // ************************************************************************* //
Macros for easy insertion into run-time selection tables.
VSForm block(const label start) const
Definition: Field.C:527
Joint state returned by jcalc.
Definition: joint.H:124
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:141
compactSpatialTensor S
The joint motion sub-space (3-DoF)
Definition: joint.H:131
spatialVector v
The constrained joint velocity.
Definition: joint.H:137
spatialTransform X
The joint transformation.
Definition: joint.H:128
Abstract base-class for all rigid-body joints.
Definition: joint.H:81
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:91
Prismatic joint for translation in the x/y/z directions.
Definition: Pxyz.H:63
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Pxyz.C:77
Pxyz(const rigidBodyModel &model)
Construct for given model.
Definition: Pxyz.C:53
virtual ~Pxyz()
Destructor.
Definition: Pxyz.C:85
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: Pxyz.C:92
Holds the motion state of rigid-body model.
const scalarField & qDot() const
Return access to the joint velocity.
const scalarField & q() const
Return access to the joint position and orientation.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
static const Tensor I
Definition: Tensor.H:83
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: autoPtr.H:51
A list of keyword definitions, which are a keyword followed by any number of values (e....
Definition: dictionary.H:162
const vector & r() const
Return the translation vector.
const tensor & E() const
Return the rotation tensor.
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Namespace for OpenFOAM.
static const zero Zero
Definition: zero.H:97
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
dictionary dict